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vtol_att_control: move handling of motor state and idle speed selection

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to VtolType class

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 744f806214
commit 79ff1436b8
4 changed files with 16 additions and 39 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
-20
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@@ -216,16 +216,6 @@ void Tiltrotor::update_mc_state()
// make sure motors are not tilted
_tilt_control = _params_tiltrotor.tilt_mc;
// enable rear motors
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
flag_idle_mc = set_idle_mc();
}
}
void Tiltrotor::update_fw_state()
@@ -234,16 +224,6 @@ void Tiltrotor::update_fw_state()
// make sure motors are tilted forward
_tilt_control = _params_tiltrotor.tilt_fw;
// disable rear motors
if (_motor_state != DISABLED) {
_motor_state = set_motor_state(_motor_state, DISABLED);
}
// adjust idle for fixed wing flight
if (flag_idle_mc) {
flag_idle_mc = !set_idle_fw();
}
}
void Tiltrotor::update_transition_state()